2 // Test_3x3transposeTimes.cpp
5 // Copyright (c) 2011 Apple Inc.
9 #include "LinearMath/btScalar.h"
10 #if defined (BT_USE_SSE_IN_API) || defined (BT_USE_NEON)
13 #include "Test_3x3transposeTimes.h"
20 #include <LinearMath/btMatrix3x3.h>
22 #define LOOPCOUNT 1000
23 #define ARRAY_SIZE 128
25 static inline btSimdFloat4 rand_f4(void)
27 return btAssign128( RANDF_01, RANDF_01, RANDF_01, BT_NAN ); // w channel NaN
30 static btMatrix3x3 TransposeTimesReference( const btMatrix3x3 &in, const btMatrix3x3 &m )
32 btVector3 m_el[3] = { in[0], in[1], in[2] };
33 btSimdFloat4 r0 = btAssign128(m_el[0].x() * m[0].x() + m_el[1].x() * m[1].x() + m_el[2].x() * m[2].x(),
34 m_el[0].x() * m[0].y() + m_el[1].x() * m[1].y() + m_el[2].x() * m[2].y(),
35 m_el[0].x() * m[0].z() + m_el[1].x() * m[1].z() + m_el[2].x() * m[2].z(),
37 btSimdFloat4 r1 = btAssign128( m_el[0].y() * m[0].x() + m_el[1].y() * m[1].x() + m_el[2].y() * m[2].x(),
38 m_el[0].y() * m[0].y() + m_el[1].y() * m[1].y() + m_el[2].y() * m[2].y(),
39 m_el[0].y() * m[0].z() + m_el[1].y() * m[1].z() + m_el[2].y() * m[2].z(),
41 btSimdFloat4 r2 = btAssign128( m_el[0].z() * m[0].x() + m_el[1].z() * m[1].x() + m_el[2].z() * m[2].x(),
42 m_el[0].z() * m[0].y() + m_el[1].z() * m[1].y() + m_el[2].z() * m[2].y(),
43 m_el[0].z() * m[0].z() + m_el[1].z() * m[1].z() + m_el[2].z() * m[2].z(),
45 return btMatrix3x3( r0, r1, r2 );
48 static int operator!= ( const btMatrix3x3 &a, const btMatrix3x3 &b )
50 if( a.getRow(0) != b.getRow(0) )
52 if( a.getRow(1) != b.getRow(1) )
54 if( a.getRow(2) != b.getRow(2) )
59 int Test_3x3transposeTimes(void)
61 // Init an array flanked by guard pages
62 btMatrix3x3 in1[ARRAY_SIZE];
63 btMatrix3x3 in2[ARRAY_SIZE];
64 btMatrix3x3 out[ARRAY_SIZE];
65 btMatrix3x3 out2[ARRAY_SIZE];
67 float maxRelativeError = 0.f;
70 for( i = 0; i < ARRAY_SIZE; i++ )
72 in1[i] = btMatrix3x3(rand_f4(), rand_f4(), rand_f4() );
73 in2[i] = btMatrix3x3(rand_f4(), rand_f4(), rand_f4() );
75 out[i] = TransposeTimesReference(in1[i], in2[i]);
76 out2[i] = in1[i].transposeTimes(in2[i]);
78 if( out[i] != out2[i] )
81 float relativeError = 0.f;
83 for (int column=0;column<3;column++)
84 for (int row=0;row<3;row++)
85 relativeError = btMax(relativeError,btFabs(out2[i][row][column] - out[i][row][column]) / out[i][row][column]);
87 if (relativeError>1e-6)
89 vlog( "failure @ %ld\n", i);
91 m0 = out[i].getRow(0);
92 m1 = out[i].getRow(1);
93 m2 = out[i].getRow(2);
95 vlog( "\ncorrect = (%10.4f, %10.4f, %10.4f, %10.4f) "
96 "\n (%10.4f, %10.4f, %10.4f, %10.4f) "
97 "\n (%10.4f, %10.4f, %10.4f, %10.4f) \n",
98 m0.m_floats[0], m0.m_floats[1], m0.m_floats[2], m0.m_floats[3],
99 m1.m_floats[0], m1.m_floats[1], m1.m_floats[2], m1.m_floats[3],
100 m2.m_floats[0], m2.m_floats[1], m2.m_floats[2], m2.m_floats[3]);
102 m0 = out2[i].getRow(0);
103 m1 = out2[i].getRow(1);
104 m2 = out2[i].getRow(2);
106 vlog( "\ntested = (%10.4f, %10.4f, %10.4f, %10.4f) "
107 "\n (%10.4f, %10.4f, %10.4f, %10.4f) "
108 "\n (%10.4f, %10.4f, %10.4f, %10.4f) \n",
109 m0.m_floats[0], m0.m_floats[1], m0.m_floats[2], m0.m_floats[3],
110 m1.m_floats[0], m1.m_floats[1], m1.m_floats[2], m1.m_floats[3],
111 m2.m_floats[0], m2.m_floats[1], m2.m_floats[2], m2.m_floats[3]);
116 if (relativeError>maxRelativeError)
117 maxRelativeError = relativeError;
122 if (maxRelativeError)
124 printf("Warning: maxRelativeError = %e\n",maxRelativeError);
126 uint64_t scalarTime, vectorTime;
127 uint64_t startTime, bestTime, currentTime;
130 for (j = 0; j < LOOPCOUNT; j++) {
131 startTime = ReadTicks();
132 for( i = 0; i < ARRAY_SIZE; i++ )
133 out[i] = TransposeTimesReference(in1[i], in2[i]);
134 currentTime = ReadTicks() - startTime;
135 scalarTime += currentTime;
136 if( currentTime < bestTime )
137 bestTime = currentTime;
139 if( 0 == gReportAverageTimes )
140 scalarTime = bestTime;
142 scalarTime /= LOOPCOUNT;
146 for (j = 0; j < LOOPCOUNT; j++) {
147 startTime = ReadTicks();
148 for( i = 0; i < ARRAY_SIZE; i++ )
149 out[i] = in1[i].transposeTimes(in2[i]);
150 currentTime = ReadTicks() - startTime;
151 vectorTime += currentTime;
152 if( currentTime < bestTime )
153 bestTime = currentTime;
155 if( 0 == gReportAverageTimes )
156 vectorTime = bestTime;
158 vectorTime /= LOOPCOUNT;
161 vlog( "\t scalar\t vector\n" );
162 vlog( "\t%10.2f\t%10.2f\n", TicksToCycles( scalarTime ) / ARRAY_SIZE, TicksToCycles( vectorTime ) / ARRAY_SIZE );